#ifndef _AHRS_H
#define _AHRS_H

#include "stm32f10x.h"
#include "math.h"
#include "delay.h"
#include "usart.h"
#include "iic.h"

#ifndef PI
#define PI 3.14159265f
#endif

void AHRSupdate(float *g,float *a,float *m,float *eInt,float *q);

#endif
